Attitude Control of a Space Platform/Manipulator System Using Internal Motion-Reference-Cited by-同舟云学术

Attitude Control of a Space Platform/Manipulator System Using Internal Motion

Published:1994-08 Issue:4 Volume:13 Page:289-304
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Fernandes Chris¹,Gurvits Leonid²,Zexiang Li ³

Affiliation:

1. Robotics Research Laboratory New York University New York, New York 10003

2. Siemens Research Laboratory Princeton, New Jersey 08540

3. Department of Electrical Engineering Hong Kong University of Sciences and Technology Kowloon, Hong Kong

Abstract

Attitude control of a space platform/manipulator system, using internal motion, is an example of a nonholonomic motion plan ning (NMP) problem arising from symmetry and conservation laws. Common to NMP problems are that an admissible con figuration space path is constrained to a given nonholonomic distribution. We formulate the dynamic equations of a system consisting of a 3-DOF PUMA-like manipulator attached to a space platform (e.g., a space station or a satellite) as an NMP problem and discuss the controllability of the system. Then we describe the application of a simple algorithm for obtaining approximate optimal solutions. We conclude with a descrip tion of simulation software implementing the algorithm and simulation results for two experiments.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/027836499401300401

Reference26 articles.

1. Brockett, R. 1981. Control theory and singular Riemannian geometry . In Hilton, P., and Young, G. (eds.): New Directions in Applied Mathematics. New York: Springer-Verlag, pp. 11-27.

2. Proceedings of Microactuators and Micromechanism;Brockett, R.W.,1988

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